#### Redundant Robots

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For a redundant robot the inverse kinematics can be easily solved using a numerical approach.

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For a redundant robot the inverse kinematics can be easily solved using a numerical approach.

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To simplify the inverse kinematics most robots have a spherical wrist, a particular mechanical wrist design. For robots where the inverse kinematics is too hard to figure out we can solve the problem numerically, treating it as an optimisation problem.

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We revisit the important points from this masterclass.

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Let’s look at numerical approaches to inverse kinematics for a couple of different robots and learn some of the important considerations. For RTB10.x please note that the mask value must be explicitly preceded by the ‘mask’ keyword. For example: >> q = p2.ikine(T, [-1 -1], ‘mask’, [1 1 0 0 0 0])

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For a real 6-link robot our previous approach to computing the Jacobian becomes unwieldy so we will instead compute a numerical approximation to the forward kinematic function.

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We repeat the process of the last section but this time consider it as an algebraic problem.

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We consider a robot, which has two rotary joints and an arm.